CA2863197A1 - Prehenseur robotique tactile - Google Patents

Prehenseur robotique tactile Download PDF

Info

Publication number
CA2863197A1
CA2863197A1 CA2863197A CA2863197A CA2863197A1 CA 2863197 A1 CA2863197 A1 CA 2863197A1 CA 2863197 A CA2863197 A CA 2863197A CA 2863197 A CA2863197 A CA 2863197A CA 2863197 A1 CA2863197 A1 CA 2863197A1
Authority
CA
Canada
Prior art keywords
displacement measuring
robotic gripper
measuring cell
touch
displacement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
CA2863197A
Other languages
English (en)
Inventor
Jeffrey A. Rose
James Adam ROSE
Stephen D. Rose
Raymond Cooper
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Quality Manufacturing Inc
Original Assignee
Quality Manufacturing Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Quality Manufacturing Inc filed Critical Quality Manufacturing Inc
Publication of CA2863197A1 publication Critical patent/CA2863197A1/fr
Abandoned legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/028—Piezoresistive or piezoelectric sensing devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
    • F04B9/08—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid
    • F04B9/10—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20311—Robotic arm including power cable or connector

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
CA2863197A 2012-03-08 2013-03-08 Prehenseur robotique tactile Abandoned CA2863197A1 (fr)

Applications Claiming Priority (13)

Application Number Priority Date Filing Date Title
US201261608407P 2012-03-08 2012-03-08
US61/608,407 2012-03-08
US201261655949P 2012-06-05 2012-06-05
US61/655,949 2012-06-05
US201261673114P 2012-07-18 2012-07-18
US61/673,114 2012-07-18
US201261683324P 2012-08-15 2012-08-15
US61/683,324 2012-08-15
US201261709822P 2012-10-04 2012-10-04
US61/709,822 2012-10-04
US201361767130P 2013-02-20 2013-02-20
US61/767,130 2013-02-20
PCT/US2013/029798 WO2013134610A1 (fr) 2012-03-08 2013-03-08 Préhenseur robotique tactile

Publications (1)

Publication Number Publication Date
CA2863197A1 true CA2863197A1 (fr) 2013-09-12

Family

ID=49112868

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2863197A Abandoned CA2863197A1 (fr) 2012-03-08 2013-03-08 Prehenseur robotique tactile

Country Status (5)

Country Link
US (3) US9205567B2 (fr)
EP (1) EP2822737A4 (fr)
CN (2) CN107009374A (fr)
CA (1) CA2863197A1 (fr)
WO (1) WO2013134610A1 (fr)

Families Citing this family (91)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8988087B2 (en) 2011-01-24 2015-03-24 Microsoft Technology Licensing, Llc Touchscreen testing
US9965094B2 (en) 2011-01-24 2018-05-08 Microsoft Technology Licensing, Llc Contact geometry tests
US9542092B2 (en) 2011-02-12 2017-01-10 Microsoft Technology Licensing, Llc Prediction-based touch contact tracking
US8982061B2 (en) 2011-02-12 2015-03-17 Microsoft Technology Licensing, Llc Angular contact geometry
US8773377B2 (en) 2011-03-04 2014-07-08 Microsoft Corporation Multi-pass touch contact tracking
US8913019B2 (en) 2011-07-14 2014-12-16 Microsoft Corporation Multi-finger detection and component resolution
US9378389B2 (en) 2011-09-09 2016-06-28 Microsoft Technology Licensing, Llc Shared item account selection
US9785281B2 (en) 2011-11-09 2017-10-10 Microsoft Technology Licensing, Llc. Acoustic touch sensitive testing
TW201326773A (zh) * 2011-12-30 2013-07-01 Ind Tech Res Inst 壓力感測器的電性量測裝置及其方法
US8914254B2 (en) 2012-01-31 2014-12-16 Microsoft Corporation Latency measurement
US9605952B2 (en) 2012-03-08 2017-03-28 Quality Manufacturing Inc. Touch sensitive robotic gripper
CA2863197A1 (fr) 2012-03-08 2013-09-12 Quality Manufacturing Inc. Prehenseur robotique tactile
US9481084B2 (en) * 2012-06-22 2016-11-01 Microsoft Technology Licensing, Llc Touch quality test robot
US9692875B2 (en) * 2012-08-31 2017-06-27 Analog Devices, Inc. Grip detection and capacitive gesture system for mobile devices
US9317147B2 (en) 2012-10-24 2016-04-19 Microsoft Technology Licensing, Llc. Input testing tool
TWI527456B (zh) * 2013-11-27 2016-03-21 Univ Nat Chi Nan Array read device, dual function read device and detection circuit
DE102014200891B4 (de) * 2014-01-20 2022-05-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur Bestimmung der Position eines Kolbens in einem Hydraulikzylinder und Verfahren, mit dem die Position eines Aktors bestimmt wird, sowie zur Durchführung des Verfahrens angepasster Aktor
US9346165B1 (en) 2014-06-02 2016-05-24 Google Inc. Robotic devices with multi-degree of freedom (DOF) load cell for shear beam sensing
US9849926B2 (en) * 2014-07-23 2017-12-26 Boston Dynamics, Inc. Predictively adjustable hydraulic pressure rails
US9457466B2 (en) 2014-08-15 2016-10-04 Disney Enterprises, Inc. Pneumatically actuated and safely compliant skeletal joints for robotic characters
US10618174B2 (en) 2014-12-09 2020-04-14 Aeolus Robotics, Inc. Robotic Touch Perception
BR112017015538A2 (pt) * 2015-01-20 2018-04-17 Goldver Tech Systems Co Ltd dispositivo de medição de carga de veículo
JP6543951B2 (ja) * 2015-02-18 2019-07-17 セイコーエプソン株式会社 圧電駆動装置、ロボット、及び、それらの駆動方法
JP6485118B2 (ja) * 2015-03-04 2019-03-20 セイコーエプソン株式会社 圧電駆動装置及びロボット
JP6713680B2 (ja) * 2015-05-14 2020-06-24 国立大学法人 東京大学 摩擦係数測定装置、摩擦係数測定システム及び歩行ロボット
US9486927B1 (en) * 2015-05-20 2016-11-08 Google Inc. Robotic gripper with multiple pairs of gripping fingers
EP3330702B1 (fr) * 2015-07-28 2020-05-27 Kyocera Corporation Substrat de capteur et dispositif capteur
US20170045976A1 (en) * 2015-08-10 2017-02-16 Apple Inc. Electronic Devices With Shear Force Sensing
US10718359B2 (en) 2015-08-21 2020-07-21 Quality Manufacturing Inc. Devices and systems for producing rotational actuation
EP3342562A4 (fr) * 2015-08-25 2019-06-26 Kawasaki Jukogyo Kabushiki Kaisha Système de robot télécommandé
CN106788376B (zh) * 2015-11-19 2019-09-17 中国科学院理化技术研究所 自激励振荡器、流体阀门、电路开关和光路开关
US9669543B1 (en) * 2015-12-11 2017-06-06 Amazon Technologies, Inc. Validation of robotic item grasping
CN107225577A (zh) * 2016-03-25 2017-10-03 深圳光启合众科技有限公司 应用在智能机器人上的触觉感知方法以及触觉感知装置
JP2017177294A (ja) * 2016-03-31 2017-10-05 キヤノン株式会社 ロボット制御装置、ロボット制御方法、ロボットシステムおよびコンピュータプログラム
US10056776B2 (en) * 2016-04-12 2018-08-21 Fetch Robotics, Inc. System and method for detecting the condition of a robotic charging connector
US9827670B1 (en) * 2016-05-24 2017-11-28 X Development Llc Coaxial finger face and base encoding
CN107515065A (zh) * 2016-06-16 2017-12-26 中兴通讯股份有限公司 传感器及确定力方向的方法
JP6514156B2 (ja) * 2016-08-17 2019-05-15 ファナック株式会社 ロボット制御装置
KR101886810B1 (ko) * 2016-09-06 2018-09-10 재단법인 대구경북과학기술원 고통 감지 방법 및 이를 위한 전자 기기
US10588526B2 (en) * 2016-09-16 2020-03-17 International Business Machines Corporation Flexible neural probes
US10942596B2 (en) * 2016-10-03 2021-03-09 Carnegie Mellon University Touch-sensing system
JP6642474B2 (ja) * 2017-02-13 2020-02-05 オムロン株式会社 状態判定装置、学習装置、状態判定方法及びプログラム
CN110023046B (zh) * 2017-02-22 2023-03-21 Abb瑞士股份有限公司 具有监控传感器的工业机器人系统
CN108537841B (zh) * 2017-03-03 2021-10-08 株式会社理光 一种机器人拾取的实现方法、装置及电子设备
US10471605B2 (en) * 2017-04-26 2019-11-12 Ready Robotics Programmable adapters for detachably connecting robotic peripherals to adaptively retool robots
EP3649009B1 (fr) * 2017-07-07 2022-11-02 Magna Seating Inc. Système de détection de pression et coussin de siège comportant le système de détection de pression
US11065761B2 (en) * 2017-07-25 2021-07-20 Dematic Corp. Robotic picking training technique
IT201700091796A1 (it) 2017-08-08 2019-02-08 Irca Spa Metodo e dispositivo per la misura di temperatura in resistenze elettriche di potenza
KR101948749B1 (ko) 2017-09-08 2019-02-15 재단법인대구경북과학기술원 고통 감지 장치 및 고통 감지 방법
US10474236B1 (en) * 2017-09-13 2019-11-12 Facebook Technologies, Llc Haptic device for variable bending resistance
DE102017217494A1 (de) * 2017-09-29 2019-04-04 Micro-Epsilon Messtechnik Gmbh & Co. Kg Kontaktlos arbeitender Wegsensor
JP7010679B2 (ja) * 2017-12-05 2022-01-26 株式会社ミツトヨ 測定ステーションおよび測定方法
CN108158559B (zh) * 2018-02-07 2023-09-12 北京先通康桥医药科技有限公司 一种成像系统探头校准装置及其校准方法
CN108189077B (zh) * 2018-03-08 2024-05-17 中国科学技术大学 液态金属驱动的自驱动装置
CN108286526B (zh) * 2018-03-16 2023-08-08 湖南神禹水利水电有限公司 无泄漏旋转式叶片角度液压调节器
US11433556B2 (en) * 2019-01-24 2022-09-06 Flexiv Ltd. Gripper with high-precision pinching force sensor
CN110031074A (zh) * 2019-03-21 2019-07-19 钛深科技(深圳)有限公司 基于压力传感阵列的物品分类识别方法及其系统
WO2020191467A1 (fr) * 2019-03-22 2020-10-01 Máquinas Sanmartin Ltda Dispositif de manipulation de produits dans des contenants, individuels ou en groupes, se basant sur une mise en mouvement par pression élastique au niveau de la partie supérieure des contenants
EP3946823A4 (fr) * 2019-03-29 2023-02-08 RIOS Intelligent Machines, Inc. Structure de réseau de capteurs flexorigide pour systèmes robotiques
US11383390B2 (en) * 2019-03-29 2022-07-12 Rios Intelligent Machines, Inc. Robotic work cell and network
JP2022527847A (ja) * 2019-03-29 2022-06-06 ライオス インテリジェント マシーンズ インコーポレイテッド ロボットシステム用の触覚知覚装置
DE102019110396A1 (de) * 2019-04-18 2020-10-22 Ematec Manfred Eberhard Maschinen- Und Greiftechnik E.K. Verfahren und Vorrichtung zur Ablage eines Gegenstands
JP7290475B2 (ja) * 2019-05-30 2023-06-13 ファナック株式会社 ロボット
CN110638455B (zh) * 2019-09-26 2022-06-14 京东方科技集团股份有限公司 用于评估用户康复状态的服务器、系统、设备及介质
US11981023B2 (en) * 2020-01-17 2024-05-14 Robotica, Inc. Tote handling system with integrated hand and method of using same
US11981507B2 (en) * 2020-06-03 2024-05-14 Robotica, Inc. Tote handling system with tote handler and method of using same
KR102378024B1 (ko) * 2020-01-30 2022-03-22 주토스 주식회사 차량용 배터리 케이스 외측면 불량여부 검사장치
US11536621B2 (en) * 2020-03-31 2022-12-27 Toyota Research Institute, Inc. Methods and systems for calibrating deformable sensors using camera
CN111624247B (zh) * 2020-06-28 2021-01-12 徐州海川生物研究院有限公司 一种用于生物纳米检测的稳定生物纳米孔的反应池装置
CN112179473B (zh) * 2020-08-27 2021-10-22 南京恒测电子设备有限公司 一种防止作弊的地磅称重装置及其方法
US11560701B2 (en) 2020-09-04 2023-01-24 Delta Faucet Company Conductive bonnet nut for an electronic faucet
GB202015433D0 (en) * 2020-09-30 2020-11-11 Rolls Royce Plc Clamping system
US11981518B2 (en) * 2020-11-05 2024-05-14 Mujin, Inc. Robotic tools and methods for operating the same
CN112859599B (zh) * 2021-01-08 2022-07-19 淮阴工学院 一种物体传递凸轮控制系统
JPWO2022186134A1 (fr) * 2021-03-04 2022-09-09
US12390928B2 (en) 2021-06-16 2025-08-19 Dexterity, Inc. Workflow for using tree search-based approach for placing boxes on pallet with limited knowledge of future sequence
US12485544B2 (en) 2021-06-16 2025-12-02 Dexterity, Inc. Workflow for using learning based approach for placing boxes on pallets
US12258227B2 (en) 2021-06-16 2025-03-25 Dexterity, Inc. Simulated box placement for algorithm evaluation and refinement
US12486125B2 (en) 2021-06-16 2025-12-02 Dexterity, Inc. Collision avoidance based on vision data, geometric data and physics engine evaluation
WO2022265929A1 (fr) * 2021-06-16 2022-12-22 Dexterity, Inc. Estimation d'état à l'aide de données géométriques et système de vision pour palettisation
CN114156976A (zh) * 2021-11-17 2022-03-08 深圳市优必选科技股份有限公司 一种充电控制电路及机器人充电系统
JP7571760B2 (ja) * 2022-04-04 2024-10-23 トヨタ自動車株式会社 ３次元モデルの生成システム、生成方法、及びプログラム
CN114950987A (zh) * 2022-05-12 2022-08-30 马立建 一种区块链系统的勘误方法
GB2626014B (en) * 2023-01-06 2025-04-30 Mocanu Calin A system of robots and robotic parts including method of construction and method of use
CN115790399B (zh) * 2023-01-13 2023-06-06 北京航天计量测试技术研究所 基于双位移传感器的弹头长度测量方法
CN118392019A (zh) * 2024-02-20 2024-07-26 华中科技大学 基于接触界面电荷不均产生的滑移传感器及机器人手和足
WO2025217288A1 (fr) * 2024-04-09 2025-10-16 Alert Venture Fund, Llc Appareil de prélèvement robotique et ses procédés d'utilisation
US12552020B2 (en) * 2024-04-24 2026-02-17 Toyota Research Institute, Inc. Collapsible protrusions having a variable coefficient of friction
CN119116001B (zh) * 2024-11-14 2025-03-25 烟台大学 一种自动对中夹持机构及对中方法
CN119870037B (zh) * 2025-03-28 2025-05-27 深圳市智佳能自动化有限公司 一种用于锂电池的智能快换测试装置
CN121374635B (zh) * 2025-12-22 2026-02-24 施努卡(苏州)智能装备有限公司 一种基于深度学习的电池装配机器人抓取方法

Family Cites Families (127)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US702117A (en) 1900-10-06 1902-06-10 Edward R Taylor Art of producing chemicals in electric furnaces.
US1802281A (en) 1929-02-13 1931-04-21 Wilson Snyder Mfg Company Slush pump
IE40238B1 (en) 1973-08-03 1979-04-11 Parel Sa Electrochemical process and apparatus
US3999904A (en) 1974-09-09 1976-12-28 Redskin Engines Orbital piston engine
US4001556A (en) 1975-04-07 1977-01-04 International Business Machines Corporation Computer controlled pneumatic retractable search sensor
US4067093A (en) 1976-05-24 1978-01-10 Dynamic Seals Incorporated Piston assembly and method for manufacturing
US4013535A (en) 1976-06-07 1977-03-22 The B. F. Goodrich Company Electrolyte separator tensioning device
FR2408771A1 (fr) 1977-11-10 1979-06-08 Quiri & Cie Usines Ensemble d'amortissement a effet autobloquant
US4323850A (en) 1978-11-17 1982-04-06 Kelvin Lenses Limited Measurement of articles
US4499784A (en) * 1981-11-20 1985-02-19 Westinghouse Electric Corp. Split-ball type wrist and manipulating assembly for robot
US5003517A (en) * 1982-11-29 1991-03-26 American Fuel Cell And Coated Fabrics Company Magnetohydrodynamic fluid apparatus and method
US4481815A (en) * 1982-12-23 1984-11-13 Overton Kenneth J Tactile sensor
US4492949A (en) * 1983-03-18 1985-01-08 Barry Wright Corporation Tactile sensors for robotic gripper and the like
US4588348A (en) * 1983-05-27 1986-05-13 At&T Bell Laboratories Robotic system utilizing a tactile sensor array
US4615512A (en) 1983-12-27 1986-10-07 General Motors Corporation Internal pressurized vehicle suspension strut assembly
US4555953A (en) * 1984-04-16 1985-12-03 Paolo Dario Composite, multifunctional tactile sensor
US4572564A (en) * 1984-07-12 1986-02-25 General Electric Company Adaptive gripping device
DE3430045C2 (de) 1984-08-16 1986-07-17 Boge Gmbh, 5208 Eitorf Vorrichtung zur Wegbestimmung eines Kolbens
DE3433351C1 (de) 1984-09-11 1986-01-02 MTU Motoren- und Turbinen-Union München GmbH, 8000 München Kapazitives Messsystem zur Messung des Abstandes zwischen zwei relativ zueinander beweglichen Teilen
US4817440A (en) * 1985-10-18 1989-04-04 The Board Of Governors For Higher Education, State Of Rhode Island And Providence Plantations Compliant tactile sensor
DE3605140A1 (de) 1986-02-18 1987-08-20 Rexroth Mannesmann Gmbh Aus mehreren ventileinheiten bestehender steuerblock fuer mehrere hydraulische antriebe, insbesondere gabelstapler
DE3611789A1 (de) * 1986-04-08 1987-10-22 Sedlbauer Wilhelm Gmbh Haltevorrichtung zum aufnehmen, transportieren und ablegen von kleinbauteilen
US4766389A (en) * 1986-09-03 1988-08-23 Extrude Hone Corporation Capacitor array sensors tactile and proximity sensing and methods of use thereof
US4908574A (en) * 1986-09-03 1990-03-13 Extrude Hone Corporation Capacitor array sensors for determining conformity to surface shape
US4770455A (en) 1986-10-21 1988-09-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Passively activated prehensile digit for a robotic end effector
DE3642642C3 (de) 1986-12-13 1994-09-01 Rexroth Mannesmann Gmbh Schaltungsanordnung zur Lage- und Vorschubregelung eines hydraulischen Antriebes
US5011207A (en) * 1987-08-03 1991-04-30 Stevens S Scott Robotic end effector for grasping objects
US4896914A (en) 1987-08-03 1990-01-30 Stevens S Scott Robotic hand with shape determination capabilities
WO1989002587A1 (fr) 1987-09-18 1989-03-23 Kazuhiro Okada Dispositif de detection de force utilisant un element resistant et son application
WO1993014386A1 (fr) * 1987-11-05 1993-07-22 Kikuo Kanaya Capteur a effleurement du type a repartition
US4841224A (en) 1987-11-10 1989-06-20 Washington Technology Center Gap width probe and method
US4845457A (en) 1987-11-25 1989-07-04 Kabushiki Kaisha Cubic Engineering Deformable type variable resistor element
DE3808822A1 (de) 1988-03-16 1989-09-28 Siemens Ag Hydraulisch gesteuertes greifwerkzeug
US4980646A (en) 1988-03-30 1990-12-25 The Trustees Of The University Of Pennsylvania Impedance tomographic tactile sensor
DK409188D0 (da) 1988-07-21 1988-07-21 Radiometer As Fremgangsmaade til maaling af en karakteristik i et fluidum
US5114300A (en) 1989-03-02 1992-05-19 Wovenwire Corporation Robotic apparatus
US4886467A (en) * 1989-06-02 1989-12-12 Chrysler Motors Corporation Quick change tool holder
CA2017674C (fr) 1990-05-30 1995-06-13 Henning Hansen Bras de support articule pour equipement de soudure
ES2032189T3 (es) 1990-11-17 1997-10-01 Krupp Bilstein Gmbh Sensor para medir la velocidad relativa y/o la posicion entre un cilindro de un amortiguador y un piston de amortiguacion que se mueve dentro de este.
US5125759A (en) 1991-02-04 1992-06-30 Chun Wendell H Adjustable compliant robotic wrist using an electro-rheological fluid
JP2803449B2 (ja) * 1992-04-02 1998-09-24 株式会社デンソー 物体の保持装置
EP0582731A1 (fr) * 1992-08-11 1994-02-16 LEDA Logarithmic Electrical Devices for Automation S.r.l. Pince avec sensation tactile, en particulier pour robot
JPH06151997A (ja) 1992-11-09 1994-05-31 Murata Mfg Co Ltd セラミック基板の分極方法
US5633576A (en) 1993-01-19 1997-05-27 Premier Engineered Products, Inc. Battery charging method with stepped current profile with operating parameter compensation and associated charger
US5413454A (en) 1993-07-09 1995-05-09 Movsesian; Peter Mobile robotic arm
US5407185A (en) * 1993-08-26 1995-04-18 Hughes Aircraft Company Reconfigurable clamp
JPH07197928A (ja) * 1994-01-07 1995-08-01 Toransapooto:Kk 関節機構およびその機構を用いたユニバーサルアーム装置
SE506558C2 (sv) 1994-04-14 1998-01-12 Cecap Ab Givarelement för tryckgivare
US5602487A (en) 1994-08-22 1997-02-11 Mitel Corporation Capacitance measuring device
JP3727657B2 (ja) 1994-11-09 2005-12-14 株式会社 アマダ フィンガ・パッド力検知システム
US5565625A (en) 1994-12-01 1996-10-15 Analog Devices, Inc. Sensor with separate actuator and sense fingers
FR2738548B1 (fr) 1995-09-11 1997-10-03 Alcatel Espace Procede de protection d'un vehicule planetaire
US6114862A (en) 1996-02-14 2000-09-05 Stmicroelectronics, Inc. Capacitive distance sensor
US5911158A (en) 1996-02-29 1999-06-08 The United States Of America As Represented By The Secretary Of The Air Force Piezoelectric strain sensor array
US6707290B2 (en) 1996-03-22 2004-03-16 Mts Systems Corporation Magnetostrictive linear displacement transducer for a vehicle strut suspension
JP3435979B2 (ja) 1996-04-26 2003-08-11 株式会社デンソー 物理量検出装置
US5957252A (en) 1996-08-02 1999-09-28 Berthold; Brian D. Hydraulic suspension unit
US5793640A (en) 1996-12-26 1998-08-11 Vlsi Technology, Inc. Capacitance measurement using an RLC circuit model
US5959455A (en) * 1997-10-06 1999-09-28 Falmouth Scientific, Inc. Fluid conductively sensor
US6042965A (en) 1997-12-12 2000-03-28 Johnson Research & Development Company, Inc. Unitary separator and electrode structure and method of manufacturing separator
US6011627A (en) 1998-04-07 2000-01-04 International Business Machines Corporation Universal mapping tool
US6209443B1 (en) * 1998-07-09 2001-04-03 Hiflex Technologies Inc. Low pressure actuator
US6448621B1 (en) 1999-06-04 2002-09-10 Mrinal Thakur Sensor apparatus using an electrochemical cell
US6586810B2 (en) * 1999-06-04 2003-07-01 Mrinal Thakur Sensor apparatus using an electrochemical cell
US6191723B1 (en) 1999-07-22 2001-02-20 Fluke Corporation Fast capacitance measurement
JP4207336B2 (ja) 1999-10-29 2009-01-14 ソニー株式会社 移動ロボットのための充電システム、充電ステーションを探索する方法、移動ロボット、コネクタ、及び、電気的接続構造
JP2001239479A (ja) 1999-12-24 2001-09-04 Sony Corp 脚式移動ロボット及びロボットのための外装モジュール
US6591685B2 (en) 2000-03-10 2003-07-15 W.E.T. Automotive Systems Ag Pressure sensor
FR2808919B1 (fr) 2000-05-15 2002-07-19 Memscap Microcomposant electronique du type capacite variable ou microswitch, ou procede de fabrication d'un tel composant
JP4491912B2 (ja) 2000-05-22 2010-06-30 ソニー株式会社 バッテリ駆動の脚式移動ロボット及びその制御方法
US6445053B1 (en) 2000-07-28 2002-09-03 Abbott Laboratories Micro-machined absolute pressure sensor
JP3555136B2 (ja) 2000-07-31 2004-08-18 日本精機株式会社 抵抗式液位計測装置
US6604426B2 (en) 2000-11-27 2003-08-12 W.E.T. Automotive Systems Ag Variable capacitance pressure sensor
US6661239B1 (en) 2001-01-02 2003-12-09 Irobot Corporation Capacitive sensor systems and methods with increased resolution and automatic calibration
DE10119941A1 (de) 2001-04-23 2002-10-24 Mannesmann Rexroth Ag Druckmittelzylinder mit einem Meßsystem zur Bestimmung der Absolutposition der Kolbenstange bezüglich eines Bezugspunkts
US6684754B2 (en) * 2001-07-10 2004-02-03 Alan Elbert Comer Pneumatic muscle analogs for exoskeletal robotic limbs and associated control mechanisms
US6484068B1 (en) 2001-07-24 2002-11-19 Sony Corporation Robot apparatus and method for controlling jumping of robot device
JP2003060004A (ja) * 2001-08-20 2003-02-28 Yaskawa Electric Corp ロボットハンド
JP3853203B2 (ja) 2001-11-21 2006-12-06 株式会社不二越 中空穴手首を有する産業用ロボットのアーム装置
JP3976129B2 (ja) 2002-02-28 2007-09-12 本田技研工業株式会社 パラレルリンク機構およびこれを用いた人工関節装置
US6889216B2 (en) 2002-03-12 2005-05-03 Knowm Tech, Llc Physical neural network design incorporating nanotechnology
ATE268249T1 (de) 2002-04-05 2004-06-15 Festo Ag & Co Fluidbetätigter greifer
US8012100B2 (en) 2002-10-01 2011-09-06 Boston Scientific Scimed, Inc. Fluid pressure-actuated medical device
US7081062B2 (en) * 2002-11-25 2006-07-25 Delbert Tesar Standardized rotary actuator
DE10258633A1 (de) 2002-12-16 2004-07-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Positionieren von zusammenzufügenden Bauteilen
JP2004294350A (ja) 2003-03-28 2004-10-21 Canon Inc 電位センサおよび画像形成装置
US20040197179A1 (en) * 2003-04-03 2004-10-07 Applied Materials, Inc. Method and apparatus for vertical transfer of semiconductor substrates between cleaning modules
US7570065B2 (en) 2006-03-01 2009-08-04 Loadstar Sensors Inc Cylindrical capacitive force sensing device and method
JP2004358508A (ja) * 2003-06-04 2004-12-24 Yaskawa Electric Corp スポット溶接方法、スポット溶接機およびスポット溶接ロボット
US7168758B2 (en) 2003-06-05 2007-01-30 Igb Automotive Ltd. Modular comfort assembly for occupant support
US6909940B2 (en) 2003-06-11 2005-06-21 International Business Machines Corporation Method and apparatus for the exchange of batteries in a robot located in an automated library
CN1819901A (zh) * 2003-09-12 2006-08-16 提姆查克股份有限公司 双足步行机器人的下半身模块
US20050283043A1 (en) 2003-11-06 2005-12-22 Sisk Bradley G Self-contained, submersible, autonomous, speaking android
JP2005231010A (ja) * 2004-02-23 2005-09-02 Fanuc Ltd 表示装置
US7734375B2 (en) 2004-06-09 2010-06-08 Boston Dynamics Robot and robot leg mechanism
JP2006068872A (ja) 2004-09-03 2006-03-16 Honda Motor Co Ltd 脚式移動ロボット
JP4589712B2 (ja) 2004-12-14 2010-12-01 本田技研工業株式会社 ロボットの関節構造
JP2006208225A (ja) 2005-01-28 2006-08-10 Nippon M K S Kk 差圧センサー
US8173285B2 (en) 2005-06-02 2012-05-08 Johnson Controls Technology Company Lithium battery management system
WO2007014095A2 (fr) * 2005-07-22 2007-02-01 Board Of Trustees Of Michigan State University Effecteur terminal pour nano-fabrication
KR101248357B1 (ko) 2005-08-31 2013-04-01 티에치케이 가부시끼가이샤 마이크로 액츄에이터
US8341158B2 (en) 2005-11-21 2012-12-25 Sony Corporation User's preference prediction from collective rating data
WO2007074891A1 (fr) 2005-12-28 2007-07-05 Honda Motor Co., Ltd. Revêtement extérieur de robot
GB2434840B (en) 2006-02-04 2011-10-19 Francis James Macdonald Farley Distensible tube wave energy converter
US7658119B2 (en) 2006-03-28 2010-02-09 University Of Southern California Biomimetic tactile sensor
US8181540B2 (en) * 2006-03-28 2012-05-22 University Of Southern California Measurement of sliding friction-induced vibrations for biomimetic tactile sensing
US7591165B2 (en) 2006-03-29 2009-09-22 Tekscan Incorporated Control circuit for sensor array and related methods
CN101109094B (zh) * 2006-07-18 2011-07-06 廖智良 基板上进行水平式电镀、电沉积或无电极电镀加工的方法
CN101627490B (zh) 2006-12-14 2012-10-03 江森自控帅福得先进能源动力系统有限责任公司 电池模块
US20080187391A1 (en) * 2007-02-01 2008-08-07 Applied Materials, Inc. Automation adjustment utilizing low melting point alloys
US8272278B2 (en) 2007-03-28 2012-09-25 University Of Southern California Enhancements to improve the function of a biomimetic tactile sensor
EP2158454B1 (fr) 2007-05-18 2018-08-22 University of Southern California Capteur tactile biomimétique pour un contrôle de prise
US8364312B2 (en) 2007-06-06 2013-01-29 Cycogs, Llc Modular rotary multi-sensor sensor ring
US8245579B2 (en) * 2007-11-02 2012-08-21 Cypress Semiconductor Corporation Discerning between substances
CN102084517A (zh) 2008-05-15 2011-06-01 江森自控帅福得先进能源动力系统有限责任公司 电池系统
US8485576B2 (en) * 2008-06-23 2013-07-16 Douglas Holtz Robotic gripper
US7610811B1 (en) 2008-10-13 2009-11-03 Honeywell International Inc Method and system for sensing differential pressure with elastomer
US8126592B2 (en) 2008-10-14 2012-02-28 Boston Dynamics, Inc. Actuator system
KR101018203B1 (ko) 2009-03-25 2011-02-28 삼성전기주식회사 거리 측정 장치
WO2010133006A1 (fr) * 2009-05-20 2010-11-25 Norgren, Inc. Détecteur de déplacement linéaire capacitif et dispositif cylindrique
TWI386656B (zh) 2009-07-02 2013-02-21 Novatek Microelectronics Corp 電容值測量電路與方法
EP2299285A1 (fr) 2009-09-18 2011-03-23 ABB Technology AG Capacimètre, procédé, et produit de programme informatique pour améliorer la mesure de la capacité
US8515579B2 (en) * 2009-12-09 2013-08-20 GM Global Technology Operations LLC Systems and methods associated with handling an object with a gripper
US8342440B2 (en) 2009-12-10 2013-01-01 Regents Of The University Of Minnesota Miniature robotic vehicle with ground and flight capability
WO2012049535A1 (fr) * 2010-10-15 2012-04-19 Freescale Semiconductor, Inc. Unité de décodeur pour déterminer une structure de substance ou de matériau d'un objet détecté sur la base de signaux d'un capteur capacitif et procédé pour déterminer une structure de substance ou de matériau d'un objet détecté sur la base de signaux d'un capteur capacitif
CA2863197A1 (fr) * 2012-03-08 2013-09-12 Quality Manufacturing Inc. Prehenseur robotique tactile
US9605952B2 (en) * 2012-03-08 2017-03-28 Quality Manufacturing Inc. Touch sensitive robotic gripper

Also Published As

Publication number Publication date
CN104271322B (zh) 2016-09-21
US9205567B2 (en) 2015-12-08
US9156172B2 (en) 2015-10-13
US9375852B2 (en) 2016-06-28
US20130238129A1 (en) 2013-09-12
US20130233166A1 (en) 2013-09-12
WO2013134610A1 (fr) 2013-09-12
US20130233116A1 (en) 2013-09-12
EP2822737A4 (fr) 2016-09-21
CN104271322A (zh) 2015-01-07
CN107009374A (zh) 2017-08-04
EP2822737A1 (fr) 2015-01-14

Similar Documents

Publication Publication Date Title
MX2015007690A (es) Sensor de la quimica del suelo.
EP2741064A3 (fr) Capteur tactile capacitif
JP2016177941A5 (fr)
EP2810147A4 (fr) Capteur tactile ultrasonore à moniteur d'affichage
EP4236024A3 (fr) Procédé et système de détection dynamique de défaut dans un réseau électrique
BR112015031626A2 (pt) dispositivos de sensor
TR201903706T4 (tr) Cilt temas dedektörü.
WO2013165925A3 (fr) Commutation tactile capacitive champ proche-champ lointain
WO2010117946A3 (fr) Dispositif d'entrée à électrode orientable
EP2416110A3 (fr) Capteur de géométrie et dispositif de saisie d'informations
TR201910112T4 (tr) Plaka formunda bi̇r objeni̇n kalinliğinin ölçülmesi̇ i̇çi̇n ölçüm düzeneği̇ ve ölçüm yöntemi̇
EP2677407A3 (fr) Dispositif de détection de fonctionnement d'indicateur
EP2423665A3 (fr) Dispositif de détection de matières particulaires
IN2014DE01061A (fr)
CA2855380C (fr) Detection de geste a partir de detecteurs de lumiere ambiante
SA113340388B1 (ar) نظام محول لأداة قياس
MX2016011895A (es) Aparato para detectar cambios quimicos ambientales, el sensor comprende una matriz polimerica sensible y particulas conductoras integradas dentro de ella.
BR112012028187A2 (pt) detecção de um objeto dielétrico
BR112014028810A2 (pt) cabo para uso em medições de biopotenciais em um ambiente de ressonância magnética (rm), e aparelho de medição de biopotencial
JP2013190430A5 (fr)
MX352743B (es) Sistema para medir fuerza de contacto en un medidor de servicios.
EP2709235A3 (fr) Dispositif d'indication d'état de batterie et outil de construction électrique
PH12016500585A1 (en) Apparatus for sensing touch and parameters
WO2012157930A3 (fr) Dispositif de capteur d'écran tactile pour un capteur d'écran tactile ayant une précision améliorée lors de la détection d'une position tactile
PH12012000398A1 (en) Projected capacitive touch panel and coordinate detecting method thereof

Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20170914

FZDE Discontinued

Effective date: 20200831